Publication: Diseño de un exoesqueleto de rehabilitación para el miembro superior y la conexión con MSMS (MusculoSkeletal Modeling Software)
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2014-03
Defense date
2014-03-06
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Abstract
En la actualidad existe una gran necesidad de disponer de sistemas
y dispositivos capaces de ayudar al ser humano a mejorar su
calidad de vida. Entre los dispositivos robóticos, los exoesqueletos
para rehabilitación y ayuda a las personas con discapacidad suponen
uno de los temas de investigación más prometedores, al que se están
dedicando muchos esfuerzos por parte de la comunidad científica.
El objetivo del presente trabajo es el de generar un entorno capaz
de simular el conjunto exoesqueleto cuerpo humano. Concretamente,
est a centrado en el desarrollo de la extremidad superior izquierda,
para lo cual ha sido necesario el diseño de un exoesqueleto mediante
el software SolidWorks R
y posteriormente el modelado del miembro
superior con el software MSMS R
, teniendo como último objetivo el
de servir como elemento de rehabilitación en terapias repetitivas.
Para poder llevar a cabo el proyecto se ha realizado un meticuloso
estudio de la biomecánica del brazo y ulteriormente se han diseñado
dos prototipos de exoesqueleto: uno de aluminio 6061 y otro de Ultra
High Molecular Weight Polyethylene. en la etapa final del trabajo se
realizo la simulación del brazo junto con el exoesqueleto, así como
el análisis de los resultados obtenidos.
There is currently a great need for systems and devices that can help humans to improve their quality of life. Among the robotic devices, exoskeletons for rehabilitation and aids for people with disabilities are one of the most promising research topics, which are devoting much e ort by the scientific community. The aim of this work is to create an environment capable of simulate the entire human body exoskeleton. Specifically, it is focused on the development of the left upper extremity, for which the design of an exoskeleton was made using SolidWorks R software later modeling of the upper limb with MSMS R software, with the ultimate goal of serving as part of rehabilitation in repeated therapies. Carrying out the project conducted a thorough study of the biomechanics of the arm and subsequently designed two prototypes of exoskeleton were designed, one in aluminium 6061 and other in Ultra High Molecular Weight Polyethylene. In the final stage of the work was performed a simulation between the arm and the exoskeleton, as well as the analysis of the results obtained.
There is currently a great need for systems and devices that can help humans to improve their quality of life. Among the robotic devices, exoskeletons for rehabilitation and aids for people with disabilities are one of the most promising research topics, which are devoting much e ort by the scientific community. The aim of this work is to create an environment capable of simulate the entire human body exoskeleton. Specifically, it is focused on the development of the left upper extremity, for which the design of an exoskeleton was made using SolidWorks R software later modeling of the upper limb with MSMS R software, with the ultimate goal of serving as part of rehabilitation in repeated therapies. Carrying out the project conducted a thorough study of the biomechanics of the arm and subsequently designed two prototypes of exoskeleton were designed, one in aluminium 6061 and other in Ultra High Molecular Weight Polyethylene. In the final stage of the work was performed a simulation between the arm and the exoskeleton, as well as the analysis of the results obtained.
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Keywords
Exoesqueletos robóticos, Rehabilitación miembros superiores, Simulación biomecánica, MSMS (Musculo Skeletal Modeling Software)